Loading and unloading apparatus



Sept. 9, 1952 LOADING AND UNLOADING APPARATUS Filed Feb. 1l, 1948 H. SAHLlN VI5 Sheets-Sheet l Sept. 9, 1952 H. sAHLlN LOADING AND UNLOADING APPARATUS 3 Sheets-Sheet 2 Filed Feb. ll, 1948 m ma 5 H. SAHLIN 2,609,776

Smeets-sheets LOADING AND UNLOADING APPARATUS /7 [la L Sept. 9, 1952 Filed Feb, 11, 1948 Patented Sept. 9, 1952 UNITI-:ol STATES PATENT N orpi-,cs 2,609,776 j LOADING AND UNLoADiG arenRA'ris Henry Sahli, Birmingham, Mich. ApplcationFebruary 11, 19.48, Serial No. 7,64

This invention relates to material handling apparatus and in particular" to" an apparatus adapted automatically to unload" "etal stampings or pressed metal panels from. a press or machine, or conversely" to load or feed" metal blanks or sheets into thepresserjmacliine pr` paratory to the operationso'f" th'e 1attei"`.

An object of the invention isto providean' apparatus adapted to be' mounted on o'ra'long# side a press or machine and havinga s'vvingingv pendant arm provided at its' lotver end with means for gripping or otherwise supporting a sheet metal blank or stamping, the' apparatus' embodying means for swinging"thependantmm relatively to the press' and independently of the movable member" or rainyof the pressl oi" the movement thereof.

A further 'object of "the 'invention' is t' pre1- vide a loading or unloading apparatus of the foregoing character in which the actuating' means for the pendant"` armirnpa'rts thereto'a vertical movement atthe time" the" blank or stamping lies within thepress' or "machineand thereafter a bodily swinging" machine1A toward or away from the press. Such movements of the" 0 pendant arm are particularlyV advantageous in unloading comparatively deep drawn `starnpings from a press since the pendant arm, Vbefore it is swung away from thelpress,v will iirst 'lift the' stamping clear of any obstruction in the lower" die.

etui a further object of" theinventum'L iste provide an apparatus ofthe foregongcharacter having means, preferably luid actuatedfi con*-` nected to the upper Aend ofthe pendantarnriorf' shifting the same vertically, meanssuc'h ascarn ineans being provided 4for imparting' a I-predeter mined swingingfmotionto the armduring "its vertical travel. As a resultof the improved construction and mode of-operation a compound motion, i. e. simultaneous vertical and swing# ing, is imparted to` the pendant larnr thereby achieving important advantages.' Forleiiample, the pendant armmaybe shortened; itfmay be given a greater angularmotiom andfits lower" end will be swung outwardly'a lessdistance from the press than l heretofore) thus enablii'igfthe apparatus to be used `effeetiulely Where thefspace between `rows ofpresses in= aplantisrestricted.

Other objects of this inventioirvvi'll` apigiear- `in the `following description and appended clainisg reference being `had tothe accompanying drawL ingsformed a part offthis s'pcication whereini like reference characters designate cdrrespendingn parts in the several views." y j l a 'fragmenta'ryirnt 'elevatiii'bf a press equipped' with anfapprats""embodying the present invention.' p

2 is an,` enlargefd`fragnientary`-vertical' section taken substantiallythrough-'lines 2*-4-2 5A claims. (o1. A11s;--sm

. L 2 cf Fig; I immagina the dii n of me arrows. Fig. 3 is" a .View part si H ar to Figa but illustratilflgV th positi of` certa`inoftheoperratigwnihanisln' when theffstapig or `panel has been muy withdrawn frrnlthe press." p N 4 is an enlarged seetio'ii taken substantially through lines" -'of Fig. 2"1`oliing`ir the direc'- tirviiof the afrws c p Fig. 5`i`s' an enlarged section taken substaii` tially throligh'line's 5-f'-5 of Fif'. 2 looking iii the direction of thfearrows.`

ql Fig'. Gis anpenl i throughlines" `o`i" Fig. 2 looking ih'the direca tion of the arrc'ivvsY Fig; 'l' is an enlarged sectie me aire-ctiorrofthe arrows. p

Figi 8' is'` an enlarged `fragfmentary sectional View" illustrating theA 'parts' enelosed Within' the tion it is' to be understood'that theinvention is not limited' initsxapplicationtoj the'details of'construction` andjjarrangement 'ci' parts illustrated"` in the accompanying drawings," Since thel inventionis* capable" oi other" embodimentsjand of beingr practiced or' carriedo tfinjvarious ways.` Also" it'A is vtobe 4understood"that 1 `or terminology employedhereinisior, the pur` pose of description and not"offfliinitationq' In the drawings there is illustrated/by way' of example, one embodiment of' the invention as appliedfto an apparatus `operable `for the purpose of unloading ,or withdrawing stampings,` pressed" metal panels `or the 'like from a press. lit willbe" understood that; with suitable'changesnot affect` ing the broad concept of the invention, anap-` paratus embodying the inventionn'ay be utilized for loading or'feeding blanlssinto' a press.' Moreover, although clamping or gripping jaws are'eniployedin the illustratedapparatus io'rgrasping" the metal stampi'ngor Work during its withdrawal `from the press; itwillbe understood thatother meansffor supporting the, work during" the handling thereof may 'be'employedwithout'dfef partinglfrom the invention iny its` broader aspects. Referrmg` p:.wtiaiiariyicing.` i, there "is illus? wie@ geely ai )A a 'presagi any well. kows' or conventional type, such as a stamping press,

having a bed or base Ill carrying a lower die H; TheA press is also equipped with the usual vertiF cally reoiprocable rainV l2'1carrying a punch or die i3 cooperablewith'the bottom die H' for" the,` purpose of stamping outl or drawing' a panely P' from'asheetmetal blank.

Rigidlyllflxed in anyV 'suitable manner to" the `upper partl ofthe frame ofthe press is :an upper arged section take'rifsubs'tantially' press at a point spaced below the bracket I4. The lower end I5a of the guide shaft l5 is reduced and fitted within an aperture in the bracket and rigidly secured thereto. v

A cam block I1 is supported from the upper et 45 secured to the tube 42.

bracket I4 at a point immediately below the same, and in the present instance this cam block is preferably supported for vertical adjustment" relatively to the bracket I4 through the medium of adjusting devices such as the adjusting bolts I8 and I9 and adjusting nuts threaded thereon, as illustrated in Figs. 2 and 3. A pair of similar depending cam plates embrace at their upperl ends opposite sides of the cam block I1 and are rigidly secured thereby by bolts 2l. The cam plates 20 are thus spaced apart and have .their inner edges suitably contoured to provide curved cam Surfaces or faces 22 preferably terminating at their lower ends in parallel vertical substantially rectilinear faces 23. A pair of Vlaterally spaced cam rollers 24, see Fig. 5, have rolling engagement with the faces or edges 23, 22 of the depending cam plates 20. These rollers have suitable journal mountings, indicated in general at 25, upon the upper ends of a pair of spaced plates or members 26, the rollers being disposed at the inner sides of these members. The plates or members 26 form the upper portion'of a swinging pendant arm generally indicated by the ref- A erence character B. As illustrated particularly in Fig. 5, the members 26 of the pendant arm B straddle or embrace opposite sides of a slide 21 which has an inwardly projecting boss 21d. Journalled within a transverse bore 21o in this boss is a horizontal shaft 28 to which the arm members are bolted at 29. From this construction it will be seen that the pendant arm B may be swung inY a vertical plane outwardly and inwardly with respect to the press about the axis of the shaft or pivot 28 which is rotatably mounted within the boss 21a of the slide 21.

The slide 21 has a vertical bore 30, see Fig. 5, through which the shaft I5 extends and upon which the slide is guided for vertical movement. The slide 21 has an outwardly extending boss 21e, see Fig, 8, provided with a vertical tapped hole into which is threaded the lower end of a lifting rod 3|, the rod being adjustably secured to the boss 21o by means of adjusting nuts 32 and 33. The upper end of the lifting rod 3| is adjustably connected at 34 (Fig. 2) to the lower end of a piston rod 35 which carries at its upper end a piston reciprocable vertically within a fluid cylinder, such as an air cylinder 36, this cylinder being mounted upon a bracket 31 secured to thetop of the supporting bracket I4. The piston rod 35 projects freely through a vertical bore l32 in cam block I1 and an aligned bore 39 in the bracket I4, thus permitting the piston rod to be reciprocated vertically thereby shifting the slide 21 up and down through the medium of the lifting rod 3l.

The lower ends of the plates or members 25, forming the upper portion of the pendant arm B, are rigidly connected together through the medium of a Stringer or cross bar apertured to receive a tubular arm member 4I which is rigidly secured thereto as by Welding. Telescoped into the tube 4I so las'to be adjustable therein is a second depending tube 42, it being noted that the tubular members 4I and 42 together form the lower part of the pendant arm B. A split" clamp 43 embraces the lower end-.of the tube 4I and is rigidly secured thereto 'bymeans of a bolt 44, see Fig. 6. Threaded into a tapped hole in the clamp 43 is an adjusting bolt 45 which has a threaded connection at its lower end with a brack- By means of the adjusting bolt 45 and suitable adjusting nuts it will be seen that the tube 42 may be adjusted endwise relatively to the tube 4I thereby Varying the` vertical position of the clamping jaws, later described, carried at the lower end of the pendant arm.

Referring to Figs. 2 and '7, the lower end of the tubular member 42V is secured within an aperture in a bracket plate 41 which in turn is boltedat 48 to a ,guide plate or member 49. Slidable in ways 5U on the guide member 49 and interlocked therewith is a clamping slide 5I having an upper forwardly extending fixed jaw member 52. The slide is bifurcated to receive a lower swinging jaw member 53 which is pivoted to the slide -at 54 so as to swing toward and from the fixed jaw memlber 52. `Mounted beneath the guide member 49 is a fluid cylinder, such as an air cylinder 55, having a reciprocable piston rod 56 connected at one end to a piston within the cylinder 55 and at its opposite end to the clamping slide 5I. Operation of the air cylinder mechanism will shift the clamping slide 5I inwardly and outwardly The pivoted jaw'- upon the guide member 49. member 53 has a vertically extending arm 53a adapted to engage an abutment 51, when the slide is shifted inwardly, and thereby close the clamping jaws so as to grip the work. Upon outward movement of the' slide 5I the arm 53a will engage a rear abutment 58 and thereby open the jaws,

the opening movement of jaw 53 being limited by means of a stop pin 59.

Mounted upon a platform 43a carried by the clamping member or Ibracket 43 is a magnet air valve 59 of any conventional type. Air under pressure from a. suitable source of supply is introduced into the air valve 60 through a main inlet 6I. An air line 62 .leads from the valve to the outer end of the cylinder 55 at one side of the piston therein and a second air line 63 leads from the air valve 69 to the cylinder 55 at the opposite side of the piston. Thus. when air is introduced into the cylinderV 55 through air line 62 the clamping slide 5I will be shifted inwardly toward the press, as shown in dotted lines in Fig. 2, air being exhausted at this time through line 63. Conversely, when air under pressure is introduced into the cylinder 55 through line 63 the slide 5I will be Withdrawn to the full line position shown in Fig. 2, air at this time being exhausted from lthe cylinder thro-ugh line 62.

In the present embodiment the magnet air con.

trol valve 60 is utilized to shift the piston within` the upper cylinder 36, this being accomplished by means of a conduit or exible air line 64 com-` municating with line 62 and leading to the cylinaVv der 36. Energization of the magnet air valve 60. is accomplished through the medium of la suitablelimit switch on the press which is actuated by a. moving part of the machine in timed relation tori the operation of the press at every cycle thereof.` For example, a rotary cam type limit switch of' conventional kind, generally indicated at 65, mayV be mounted on a bracket 65a at one side of theA press. This switch includes a contact engaged by one of the cams on a cam shaft 66 in the amarre of the press, the magnet air valve 60 will be energized through a control relay which holds the circuit closed and thereby maintains the magnet air valve energized during a predetermined period of operation of the pendant arm B. The circuit through the magnet airvalve is interrupted and the valve deenergized through the medium of a second limit switch of conventional kind generally indicated at 69, see Fig. 2. This upper limit switch is controlled by a swinging spring pressed arm carrying at its lower end a roller 1I engaged by a pin or plunger 12 carrying at its outer end a contact cam 12a. The carn12a projects into the, path of a cam roller 13, see Figs. 2, 5 and 8, journalled on` abraclret 14. This bracket is adjustably mounted on the outer face of the boss 21e through the medium ofV an adjusting screw 15extending througha vertical slot 16 in the bracketll. By loosening the screw the bracket 14 may .be adjusted vertically thereby varying the position of thecam roller 13. When the slide 21 has travelled upwardly a predetermined distance the cam roller A13 will engage the cam 12a on the pin 12, thereby swinging the arm 1Q and actuating the upperlimit switch 6e. By adjustingthe cam roller 13 vertically the time of its engagement with the cam 12a may be varied, thusvarying` the upper limit of travel of the slide |21 and, consequently, varying the outward limit of swinging movement of the pendant arm B.

The main limit switch 65 is set so that the press willopen to a predetermined extent before contact is made inthe switch box. For example, after the ram I2 has on its upward stroke moved punch I3 a given distance, -suchV as six inches, away from the lower die II contact may be made at the limit switch 65.` At this time the pendant arm B and gripping jaws 52, 53 will occupy their full line` positions shown in Fig. 2l When the press Vopens the stamping P is usually elevated from the lower die by conventional knock out pins, thus' positioning the edge of the panel in operative relation to the gripping jaws. Hence, when contact is made at the limit switch 65 causing the magnet valve B0 to be energized, air under pressure will be caused to dow through lines B2 and 64 resulting in forcing the clamping slide 5I inwardly into position between the separated dies II `and I3 so as to grip the edge of the stamping P upon closing of the jaws. At this time air under pressure owing through line 64 into` theupper air valve 36 will shift thepiston rod 35 upwardly, thereby causing the slide 21 to travel upwardly on the guide shaft I5, Due to the inertia of the pendant arm B there will be a suflicient interval between the operation of the l jaws to grip the` work and the commencement of the upward travel of the slide 21 to permit the jaws to take hold of the panel before vertical movement of the pendant arm is initiated.

During initial upward travel of the slide '21 the cam rollers 24 will travel along the surfaces 23, thus imparting l a straight-line `upward translatory motion to the pendantA arm. The extent of this vertical movement of the pendant arm before it starts to swing outwardly may be varied, if desired, by varying the length of the surfaces 23 and` this is particularly important where deep drawn stampings are to be withdrawn from the press, this initial s verticaly motion enabing the stamping to be lifted upwardly a sufficient dis-` tancev to lclear anytobstruction in the` lower die. During continued upward movement of the slide 21 the cam rollers24 will travel over the inwardly extending curved cam surfaces 22, thereby swinging the pendant arm B outwardly about the transverse horizontal axis of the pivot or shaft 23. Whentheependant arm B reaches the outward limit of its swinging motion, as shown in Fig. 3, the cam lroller13 engages the cam 12a on the pin 12, thereby actuating the upper limit switch 69, and breaking the circuit through the magnet air valve 6U, resulting in deenergizing this valve and cutting off theflow of air under pressure through the. lines 62 and 64 while introducing air under pressure throughvthe line63. This operation will result in shifting the clamping slide 5I outwardly and causing the jaws 52, 53 to open and release Y the panel P. At the same time air will exhaust from the upper cylinder 36 through line 64, thereby enabling the slide 21 to descend on guide shaft I5 through gravity. Due to the slight delay in the commencement of the descent of the slide 21 the'jaws will release `the panel just before the slide starts to descend and the pendant arm starts to swing inwardly through engagement of the camrollers 24 with the cam faces 212. The pendant arm, as it reaches the lower end of its stroke, will engage `an adjustable stop 11 which positions the pendantA arm, as shown in full lines in Fig. 2, for a succeeding operation. By `virtue of the adjusting screw. t5 the vertical position of the clamping jaws may be adjusted so that they will line up correctly with the stamping to l be grasped and withdrawn from the press.

By adjustingthe Vcam roller 13 vertically the outward` travel of the pendant arm B may be varied so as either to cause the clamping jaws, when open, to drop the panel P rightside up on a suitable support, such as conveyor 18, or to cause the panel to turn over and drop on the conveyor upside down. When the apparatus is not in use provision may be made for holding the pendant arm B at the extreme upward limit of its outward swinging travel. This is accomplished in the present instance by providing an annular groove 19 onl the shaft I5 which is cleared by the slide 21 at its upperlimit o f travel, as shown in Fig. 3. A C-clamp or other split `clamping ring (not shown) may be fastened inthe groove 19 to form an abutment engaging the lower edge of the slide 21 and preventing the slide from shifting downwardly by gravity.

I claim:

l. In a `material handling apparatus for work adapted to be` operated on in a press or machine having relatively` vertically `movable members, comprising supporting means adapted to be mounted at a side ofthe machine, a slide, guide means carried by said-supporting means for guiding theslide in a vertical direction, a swinging arm depending fromsaidslide and pivotally connected thereto for swinging motion toward and from the machine, work gripping meansfcarried by the lower end of the arm, fluid operated means on said supporting means and connected to said slide for shifting the slide in a vertical direction, cooperating cam means on said arm and supporting means 'for swinging the arm, uid operated means for operating said work gripping means, electrically controlled means for actuating both of'said `fluid operated means, a limit switch actuated in timed relation to the operationof the machine for actuating said electrically 74 controlled means to operate the work gripping means and also for causing said iirst named fluid operated means to'shift the slide upwardly, and

rate from said members, guidermeans carried by said supporting means for guiding the slide in a vertical direction, a swinging arm depending from 'said slide and pivotally connected thereto for swinging motion toward and from the machine, work gripping means carried by the lower end of the arm, fluid operated means onsaid supporting means and connected to said slide for shifting the slide in a vertical direction, cooperating cam means on said arm and supporting means for swinging the arm, fluid operated means for operating said work gripping means, control means for controlling the actuation of both of said iiuid operated means, means actuated in timed relation to the operation of the machine for actuating said control means to operate the work gripping means and also for causing said rst named iiuid operated means to shift the slide in a vertical direction, and means controlled by the slide for actuating said control means 'to cause release of said gripping means and cessation of the vertical travel of the slide in onedirection. Y

3. A material handling apparatus for a press or machine having relatively movable members, comprising supporting means adapted to be mounted in position adjacent said machine, said supporting means comprising spaced upper and lower support members, a stationary vertical guide extending between and secured to said support members, a slide separate from said relatively movable members and mounted for vertical travel on said guide between said support members, a swinging pendant arm pivotally connected to the slide for swinging motion toward and from the machine, `work engaging means for loading or unloading the work and carried by the lower end of the arm, nuid operated means on said supporting means and connected to said slide for shifting the slide in a vertical direction, cooperating cam means on said arm and supporting means for swinging the arm, uid operated means for operating said work engaging means, control means for controlling the actuation of both of said fluid operated means, means actuated in timed relation t the operation of the machine for actuating said control means to operate the work engaging means and also for causing said iirst named fluid operated means to shift the slide in a vertical direction, and means controlled by the slide for actuating said control means to cause release of said engaging means and cessation of` the vertical travel of the slide in one direction.

4. A material handling apparatus for a press or machine having relatively movable members, comprising supporting means adapted to be mounted in position adjacent the machine, guide means carried by said supporting means, slide means separate from said members mounted for reciprocable travel along said guide means, swingable work handling arm means mounted on said slide means for movement toward and from 8 the machine, I cam means on said` supporting means for swinging said arm means, work engaging means for loading or unloading the work and mounted adjacent the outer end of said arm means, fluid operated means connected tosaid slide means for shifting the same in one direction, fluid operated means for operating said work engaging means, control means for controlling the operation of both of said fluid operated means, a common iiuid conduit for both of said fluid operated means leading from said control means, means actuated in timed relation to the' operation of the machine for actuating said control means to open said fluid conduit to a fluid source and cause fluid to be conveyed simultaneously to both of said fluid operated means thereby to cause said rst named iiuid operated means to shift the slide means and also to cause said second named fluid operated means to operate said work engaging means, and means on said vsupporting means arranged in the path of said slide means and controlled by said slide means for actuating said control means to provide for release of said work engaging means and cessation of the travel of said slide means in one direction.

5. A material handling apparatus for a press or machine having relatively movable members, comprising supporting means adapted to be mounted in position adjacent the machine, guide means carried by said supporting means, slide means separate from said members mounted for reciprocable travel along said guide means, swingable'work handling arm means mounted on said slide means for movement toward and from the machine, cam means on said supporting means for swinging said arm means, work engaging means for loading or unloading4 the work and mounted adjacent the outer end of said armv means, fluid operated means connected to said slide means for shifting the same` in one direction, fluid operated means for operating said work engaging means, electrically controlled valvermeans for controlling the operation of both of said fluid operated means, a common fluid conduit for both of said fluid operated means leading from said valve means and adapted to be opened or closed by saidvalve means, means actuated in timed relation to the operation of the machine for actuating said valve means to open said fluid conduit to a fluid source and cause fluid to be conveyed simultaneously to both of said fluid operated means thereby to cause said second named fluid operated means to operate said work engaging means and sequentially to cause said rst named iiuid operated means to'shift the slide means, and a limit' switch on said supporting means arranged in the path of said slide means and controlled by said slide means for closing said valve means to provide for release of said work engaging means and cessation of the travel of said slide mean's'in one direction.

HENRY SAHLIN.

REFERENCES CITED The following referencesare of record inthe file of this patent:

UNITED STATES PATENTS Number Name Date 1,362,286 Gerhardt Dea-14, 1920 1,836,444 Carnahan Dec. 15, 1931 1,859,956 Canfield May 24, 1932 1,999,742 Smith 1 Apr. 30, 1935 2,275,561 Sahlin- Mar. 10, 1942 

